Teleoperation through Eye Gaze (TeleGaze): A Multimodal Approach

摘要：

Most mobile robot teleoperation require monitoring as well as controlling from a remote location. This engages both the hands and the eyes of the human operator for the whole duration of the operation. Aiming at minimizing the human body engagement by freeing the hands of the operator from the controlling task, previous works by the authors proved that both monitoring and controlling can be achieved using solely inputs from the operators eyes. The TeleGaze interface, which has been developed as a novel interface for teleoperation through eye gaze, enabled the operator to control a robotic platform, an onboard active vision and some aspects of the interface using eye-gaze tracking. However, the advantage of free hands using TeleGaze was accompanied by an increase in the tasks general workload causing some extra stress on the operator. In the aim of optimizing the human-robot interaction experience while using TeleGaze, a multimodal approach is believed to be necessary. Therefore, in addition to some further re.nements in the design of the interface a multimodal TeleGaze system has also been developed. In this paper the multimodal version of TeleGaze using an accelerator pedal and the native version of TeleGaze using dwell time are both presented. Details of the re.nements in the design of the interface and the results of a task-oriented evaluation for three different modes of interaction, including both modes of TeleGaze, are also included.

关键词： Teleoperation Interfaces Mobile Robot Navigation Human-Robot Interaction Eye-Gaze Tracking Intelligent User Interfaces

作者: Hemin Omer Latif Nasser Sherkat Ahmad Lotfi

作者单位: School of Science and Technology at the Nottingham Trent University,Nottingham,UK Nottingham Trent University,Nottingham,UK Department of Computing and Technology in the School of Science and Technology at the Nottingham Tre

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 711-716

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）